SolarSLAM: Battery-free loop closure for Indoor localisation

In this paper, we propose SolarSLAM, a batteryfree loop closure method for indoor localisation. Inertial Measurement Unit (IMU) based indoor localisation method has been widely used due to its ubiquity in mobile devices, such as mobile phones, smartwatches and wearable bands. However, it suffers fro...

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Main Authors: WEI, Bo, XU, Weitao, LUO, Chengwen, ZOPPI, Guillaume, MA, Dong, WANG, Sen
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Language:English
Published: Institutional Knowledge at Singapore Management University 2021
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Online Access:https://ink.library.smu.edu.sg/sis_research/7011
https://ink.library.smu.edu.sg/context/sis_research/article/8014/viewcontent/SolarSLAM_2_.pdf
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spelling sg-smu-ink.sis_research-80142022-03-17T15:08:50Z SolarSLAM: Battery-free loop closure for Indoor localisation WEI, Bo XU, Weitao LUO, Chengwen ZOPPI, Guillaume MA, Dong WANG, Sen In this paper, we propose SolarSLAM, a batteryfree loop closure method for indoor localisation. Inertial Measurement Unit (IMU) based indoor localisation method has been widely used due to its ubiquity in mobile devices, such as mobile phones, smartwatches and wearable bands. However, it suffers from the unavoidable long term drift. To mitigate the localisation error, many loop closure solutions have been proposed using sophisticated sensors, such as cameras, laser, etc. Despite achieving high-precision localisation performance, these sensors consume a huge amount of energy. Different from those solutions, the proposed SolarSLAM takes advantage of an energy harvesting solar cell as a sensor and achieves effective battery-free loop closure method. The proposed method suggests the key-point dynamic time warping for detecting loops and uses robust simultaneous localisation and mapping (SLAM) as the optimiser to remove falsely recognised loop closures. Extensive evaluations in the real environments have been conducted to demonstrate the advantageous photocurrent characteristics for indoor localisation and good localisation accuracy of the proposed method. 2021-10-01T07:00:00Z text application/pdf https://ink.library.smu.edu.sg/sis_research/7011 info:doi/10.1109/iros45743.2020.9340962 https://ink.library.smu.edu.sg/context/sis_research/article/8014/viewcontent/SolarSLAM_2_.pdf http://creativecommons.org/licenses/by-nc-nd/4.0/ Research Collection School Of Computing and Information Systems eng Institutional Knowledge at Singapore Management University Indoor localisation SLAM Solar cell Artificial Intelligence and Robotics
institution Singapore Management University
building SMU Libraries
continent Asia
country Singapore
Singapore
content_provider SMU Libraries
collection InK@SMU
language English
topic Indoor localisation
SLAM
Solar cell
Artificial Intelligence and Robotics
spellingShingle Indoor localisation
SLAM
Solar cell
Artificial Intelligence and Robotics
WEI, Bo
XU, Weitao
LUO, Chengwen
ZOPPI, Guillaume
MA, Dong
WANG, Sen
SolarSLAM: Battery-free loop closure for Indoor localisation
description In this paper, we propose SolarSLAM, a batteryfree loop closure method for indoor localisation. Inertial Measurement Unit (IMU) based indoor localisation method has been widely used due to its ubiquity in mobile devices, such as mobile phones, smartwatches and wearable bands. However, it suffers from the unavoidable long term drift. To mitigate the localisation error, many loop closure solutions have been proposed using sophisticated sensors, such as cameras, laser, etc. Despite achieving high-precision localisation performance, these sensors consume a huge amount of energy. Different from those solutions, the proposed SolarSLAM takes advantage of an energy harvesting solar cell as a sensor and achieves effective battery-free loop closure method. The proposed method suggests the key-point dynamic time warping for detecting loops and uses robust simultaneous localisation and mapping (SLAM) as the optimiser to remove falsely recognised loop closures. Extensive evaluations in the real environments have been conducted to demonstrate the advantageous photocurrent characteristics for indoor localisation and good localisation accuracy of the proposed method.
format text
author WEI, Bo
XU, Weitao
LUO, Chengwen
ZOPPI, Guillaume
MA, Dong
WANG, Sen
author_facet WEI, Bo
XU, Weitao
LUO, Chengwen
ZOPPI, Guillaume
MA, Dong
WANG, Sen
author_sort WEI, Bo
title SolarSLAM: Battery-free loop closure for Indoor localisation
title_short SolarSLAM: Battery-free loop closure for Indoor localisation
title_full SolarSLAM: Battery-free loop closure for Indoor localisation
title_fullStr SolarSLAM: Battery-free loop closure for Indoor localisation
title_full_unstemmed SolarSLAM: Battery-free loop closure for Indoor localisation
title_sort solarslam: battery-free loop closure for indoor localisation
publisher Institutional Knowledge at Singapore Management University
publishDate 2021
url https://ink.library.smu.edu.sg/sis_research/7011
https://ink.library.smu.edu.sg/context/sis_research/article/8014/viewcontent/SolarSLAM_2_.pdf
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